Module fiducial markers for robot navigation, address markers and the associated robots

Abstract

The present invention discloses a module for robot navigation, an address marker and an associated robot. The module divides a whole workspace area for robot traveling into a plurality of module areas, and each module area is internally provided with a first magnetic piece having a polarity of an N pole or an S pole and a second magnetic piece having a polarity different from the polarity of the first magnetic piece. The first magnetic piece is a first magnetic strip, and the second magnetic piece is a second magnetic strip. The first magnetic strip is arranged in the Y-axis direction, and the second magnetic strip is arranged in the X-axis direction. A third magnetic strip and a fourth magnetic strip are further included. The four strips are in cross arrangement. The polarity of the second magnetic strip, the polarity of the third magnetic strip and the polarity of the fourth magnetic strip are the same. A plurality of magnetic induction sensors and an address marker recognition device are installed at the bottom of the robot. The robot can travel forward or backward or turn to a target module area according to instructions and collected marker information. The module for robot navigation, the address marker and the associated robot according to the present invention have beneficial effects of reliable and accurate positioning, low cost and convenient maintenance.

Claims

1. A module for robot navigation, wherein the module comprises a whole workspace area for robot traveling divided into a plurality of module areas, and each module area is internally provided with: a first magnetic strip arranged in a Y-axis direction; a second magnetic strip; arranged in an X-axis direction; a third magnetic strip arranged in the X-axis direction; a fourth magnetic strip arranged in the Y-axis direction, and a unique address marker, wherein the unique address marker is surrounded by the first, second, third and fourth magnetic strips.

2. The module for robot navigation according to claim 1, wherein the first magnetic strip, the second magnetic strip, the third magnetic strip and the fourth magnetic strip are in cross arrangement.

3. The module for robot navigation according to claim 2, wherein distances between a cross center and the farthest ends of the first magnetic strip, the second magnetic strip, the third magnetic strip and the fourth magnetic strip are the same.

4. The module for robot navigation according to claim 1, wherein the magnetic strips are directly attached to the module area.

5. The module for robot navigation according to claim 1, wherein each module area is provided with a magnetic material plate, and the magnetic material plate is directly magnetized to form N-pole or S-pole magnetic strips.

6. The module for robot navigation according to claim 1, wherein the plurality of module areas is arranged in a matrix, and the module areas are square or rectangle.

7. The module for robot navigation according to claim 1, wherein the address marker is a bar code, a two-dimensional code, a graphic mark, a color mark, a size mark, or an RFID tag.

8. The module for robot navigation according to claim 1, wherein the unique address marker is positioned between the first magnetic strip and the second magnetic strip.

9. A robot, configured for interacting with a module for robot navigation, wherein the module comprises a whole workspace area for robot traveling divided into a plurality of module areas, wherein each module area is provided with a unique address marker, and each module area is internally provided with a first magnetic strip arranged in a Y-axis direction, a second magnetic strip arranged in an X-axis direction, and a third magnetic strip arranged in the X-axis direction, and a fourth magnetic strip arranged in the Y-axis direction, wherein the unique address marker is surrounded by the first, second, third and fourth magnetic strips, the robot comprising: a plurality of magnetic induction sensors and an address marker recognition device installed on a bottom thereof; wherein the plurality of magnetic induction sensors collect signals of magnetic strips having different polarities, and the address marker recognition device collects the address marker information, wherein the plurality of magnetic induction sensors and the address marker recognition device are connected to a robot controller, and the robot travels to a target module area according to instructions and collected marker information.

10. The robot according to claim 9, wherein the magnetic induction sensors are Hall effect sensors.

11. The robot according to claim 10, wherein a plurality of Hall effect sensors forms a square shape, a rectangular shape, a circular shape, an oval shape or a II shape, and the address marker recognition device is located at a central position.

12. The robot according to claim 11, wherein a low-remanence high-permeability material plate is further included; wherein the Hall effect sensors are installed proximal to the module area, and the low-remanence high-permeability material plate is secured above the Hall effect sensors and is close to the Hall effect sensors.

13. The robot according to claim 12, wherein the low-remanence high-permeability material plate is wider than the Hall effect sensors.

14. The robot according to claim 9, wherein the address marker recognition device is a camera or an RFID card reader or a barcode reader.

15. The robot according to claim 9, wherein the robot includes a sorting robot, a transport robot, a loading/unloading robot or other types of traveling robots, and the robot is in wireless connection with a server such that after receiving instruction signals, the robot travels forward or backward or turns along a predetermined line to a target module area to perform a task such as loading or unloading cargo.

16. The module for robot navigation according to claim 9, wherein the unique address marker is positioned between the first magnetic strip and the second magnetic strip.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) FIG. 1 is a schematic structural diagram of arranging a first magnetic strip and a second first magnetic strip in a module according to the present invention.

(2) FIG. 2 is a schematic structural diagram of adding a third magnetic strip on the basis of FIG. 1.

(3) FIG. 3 is a schematic structural diagram of adding a fourth magnetic strip on the basis of FIG. 2.

(4) FIG. 4 is a schematic structural diagram illustrating that the magnetic strips having different polarities do not intersect and the magnetic strips having the same polarity may intersect in the module according to the present invention.

(5) FIG. 5 is a schematic structural diagram of a robot traveling over a module fiducial marker according to the present invention.

(6) FIG. 6 is a schematic structural diagram of magnetic strips, Hall effect sensors and a low-remanence high-permeability material plate according to the present invention.

(7) FIG. 7 is a schematic structural diagram of the Hall effect sensors forming an II shape.

(8) FIG. 8 is a schematic structural diagram of the Hall effect sensors forming a circular shape.

DESCRIPTION OF EMBODIMENTS

(9) The present invention will be further described with reference to the accompanying drawings:

(10) As shown in the drawing, Embodiment 1: modules for robot navigation divide a whole workspace area for robot travel into a plurality of module areas, and each module area is internally provided with:

(11) a first magnetic piece having a polarity of North or South; and

(12) a second magnetic piece having a polarity different from the polarity of the first magnetic piece.

(13) The first magnetic piece is a first magnetic strip 1 and the second magnetic piece is a second magnetic strip 2.

(14) The first magnetic strip 1 is arranged in the Y-axis direction; and the second magnetic strip 2 is arranged in the X-axis direction (as shown in FIG. 1).

(15) Embodiment 2: on the basis of Embodiment 1, the following is further included:

(16) a third magnetic strip 3 arranged in the X-axis direction, where the polarity of the third magnetic strip 3 is the same as the polarity of the second magnetic strip 2 (as shown in FIG. 2).

(17) Embodiment 3: on the basis of Embodiment 2, the following is further included:

(18) a fourth magnetic strip 4 arranged in the Y-axis direction, where the polarity of the fourth magnetic strip 4 is the same as the polarity of the second magnetic strip 2 and the polarity of the third magnetic strip 3 (as shown in FIG. 3).

(19) The magnetic strips having different polarities do not intersect, and the magnetic strips having the same polarity may or may not intersect (as shown in FIG. 4).

(20) The first magnetic strip 1, the second magnetic strip 2, the third magnetic strip 3 and the fourth magnetic strip 4 are in a cross formation.

(21) The distances between the cross center and the farthest ends of the first magnetic strip 1, the second magnetic strip 2, the third magnetic strip 3 and the fourth magnetic strip 4 are the same.

(22) The magnetic strips are directly attached to the module area, or each module area is provided with a magnetic material plate, and the magnetic material plate is directly magnetized to form the North-polarity or South-polarity magnetic strips.

(23) The plurality of module areas is arranged in a matrix, and the module areas are square.

(24) A module for robot navigation includes the module fiducial markers and further includes address markers 5. Each module area is provided with a unique address marker 5 (as shown in FIG. 5).

(25) The address marker 5 is a bar code, a two-dimensional code, a graphic mark, a color mark, a size mark, or an RFID tag.

(26) A robot travels over the markers and a plurality of magnetic induction sensors and an address marker recognition device are installed at the bottom of the robot. The plurality of magnetic induction sensors can collect signals of the magnetic strips having different polarities, and the address marker recognition device can collect the address markers. The plurality of magnetic induction sensors and the address marker recognition device are connected to a robot controller, and the robot can travel forward or backward or turn to a target module area according to instructions and collected marker information.

(27) The magnetic induction sensors are the Hall effect sensors 6. The Hall effect sensors 6 are usually 0.5-2 cm away from the ground, and can collect signals of the magnetic strips in a non-contact mode. The Hall effect sensors 6 will have a different voltage output when collecting North-polarity or South-polarity magnetic signals.

(28) The address marker recognition device is a camera or an RFID card reader.

(29) The plurality of Hall effect sensors forms a square shape (as shown in FIG. 5), a rectangular shape, a circular shape (as shown in FIG. 8), an oval shape or a II shape (as shown in FIG. 7), and the address marker recognition device is located at a central position (as shown in FIG. 5).

(30) As can be seen from FIGS. 5, 7 and 8, the robot can also be positioned without arranging the fourth magnetic strip 4 and the third magnetic strip 3.

(31) A low-remanence high-permeability material plate 7 is further included. The Hall effect sensors 6 are installed close to the module area, and the low-remanence high-permeability material plate 7 is secured above the Hall effect sensors 6 and is close to the Hall effect sensors 6 (as shown in FIG. 6).

(32) Usually, the low-remanence high-permeability material plate 7 is wider than the Hall effect sensor 6.

(33) The robot includes a sorting robot, a transportation robot, a loading/unloading robot or other types of traveling robots. The robot is in wireless connection with a server. After receiving instruction signals, the robot travels forward or backward or turns along a predetermined line to a target module area to perform a task such as loading or unloading cargo.